Feature availability Matrix
One of the biggest learnings in the usage of ROS and ROS 2 is to keep track of the available packages and functionality based on the distribution you choose and the combination of tools or packages.
This is the approach to keep track of the findings. Due to the fact that i am using humble as ROS 2 distribution and harmonic gazebo as simulation, some statements for other distributions are based on documentation not experience.
Experience feedback
This is a collection of the experience which is collected during the exploration. This is not a nearly complete overview.
Feature Matrix ROS
The following table is a list of topis which i discovered as interesting packages or features which have distribution dependent support.
| Feature | Noetic (ROS1 LTS) | Humble (ROS2 LTS) | Jazzy (ROS2 LTS) |
|---|---|---|---|
| slam toolbox | Yes | Yes | Yes |
| gmapping | No | No | No |
| KartoSLAM | No | No | No |
| Hector SLAM | Yes | No | No |
| NAV2 | No | Yes | Yes |
| Live BT Support | Yes | No with Nav2 | No with Nav2 |
| Explore Lite | Yes | By Source | By Source |
| FlexBE Behavior Engine | No | No | Yes |
Feature Matrix Gazebo
The following table is a list of topis which i discovered as interesting features for the simulation which have distribution dependent support.
| Feature | Gazebo Classic (V11) | Harmonic (V8) |
|---|---|---|
| Mecanum Drive | No | Yes |